File content as of revision 12:b2f3c85cba36:

#include "Utils.h"
#include "USBHost.h"
#include "hci.h"
#include "ps3.h"
#include "User.h"

#include "mbed.h"

int RSX,RSY,LSX,LSY,BSU,BSL;
//これより下に関数外に書く要素を記入する
PwmOut led1(LED1);
PwmOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

//MD1
PwmOut motorRightOne (p24);
PwmOut motorRightTwo (p23);

//MD2
PwmOut motorLeftOne (p22);
PwmOut motorLeftTwo (p21);

//MD3 Arm1
PwmOut armOneJun(p25);
DigitalOut chocolateOne (p6);
DigitalOut chocolateTwo (p5);

//MD4 Arm2
PwmOut armTwoTaka(p26);
DigitalOut brownieOne (p29);
DigitalOut brownieTwo (p30);


/*

PWM->0.xxx
Digitals->0 and 0.xxx
for arms(I guess...)

For lergs, turn right or left, and just going go and back.->Probably using sticks.
How to cha ge speed? Two different tyes of speed.

Wow, Taka-chan will do one of the machine. He wants to do with the angles. Plus I don't understand what they are talking about!!
Left stick, speed and right/left
Push button and max incline -> the max speed
Just max incline -> usual speed
Little incline -> slow speed

L1/R2 -> turning?

Lifting ->

*/



void UserLoopSetting()
{
    //一度だけ行いたい初期設定をここに書く
    /*
    I need to ask what to do with this!
    Actually, do we have any LEDs?
    */
    led1.period_ms(20);
    led3=1;
}

void UserLoop(char n,const u8* data)
{
    u16 ButtonState;
    if(n==0) { //有線Ps3USB.cpp
        RSX = ((ps3report*)data)->RightStickX;
        RSY = ((ps3report*)data)->RightStickY;
        LSX = ((ps3report*)data)->LeftStickX;
        LSY = ((ps3report*)data)->LeftStickY;
        BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)data)->ButtonState;
    } else {//無線TestShell.cpp
        RSX = ((ps3report*)(data + 1))->RightStickX;
        RSY = ((ps3report*)(data + 1))->RightStickY;
        LSX = ((ps3report*)(data + 1))->LeftStickX;
        LSY = ((ps3report*)(data + 1))->LeftStickY;
        BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
        BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
        //ボタンの処理
        ButtonState =  ((ps3report*)(data + 1))->ButtonState;
    }
    //ここより下にプログラムを書く

//足回り
    /*
     double thesOne = 64;
     double thesTwo = 127;
     double thesThree = 191;
     double fastSpeed = 1;
     double slowSpeed = 0.5;
     */

    if(RSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//forward
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0.4;
        motorLeftTwo = 0;
    } else if(RSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) {//turn right
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.4;
    } else if(RSY>140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.4;
        motorLeftTwo = 0;
    } else if(RSY>140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//forward
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0.4;
        motorLeftTwo = 0;
    } else if(RSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) { //back
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0;
        motorLeftTwo = 0.4;
    } else if (RSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.4;
    } else if(RSY<110 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 1) {//turn left
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.4;
        motorLeftTwo = 0;
    } else if (RSY<110 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) {//back
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0;
        motorLeftTwo = 0.4;
    } else if(RSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 0 && ((ButtonState >> BUTTONR1)&1) == 0) {//stop
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
    } else if(RSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==1  && ((ButtonState >> BUTTONR1)&1) == 0) { //turn right
        motorRightOne = 0.4;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0.4;
    } else if(RSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) ==0  && ((ButtonState >> BUTTONR1)&1) == 1) { //turn left
        motorRightOne = 0;
        motorRightTwo = 0.4;
        motorLeftOne = 0.4;
        motorLeftTwo = 0;
    } else if(RSY>=110 && RSY<= 140 && ((ButtonState >> BUTTONL1)&1) == 1 && ((ButtonState >> BUTTONR1)&1) == 1) { //stop
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
    }else{
        motorRightOne = 0;
        motorRightTwo = 0;
        motorLeftOne = 0;
        motorLeftTwo = 0;
        }

    if(((ButtonState >> BUTTONCIRCLE)&1) == 1 && ((ButtonState >> BUTTONCROSS)&1) == 0) { //つかむか放す
        chocolateOne = 0.1;
        chocolateTwo = 0;
        brownieOne = 0.1;
        brownieOne = 0;
    } else if (((ButtonState >> BUTTONCIRCLE)&1) == 0 && ((ButtonState >> BUTTONCROSS)&1) == 1) {
        chocolateOne = 0;
        chocolateTwo = 0.1;
        brownieOne = 0;
        brownieOne = 0.1;
    } else {
        chocolateOne = 0;
        chocolateTwo = 0;
        brownieOne = 0;
        brownieOne = 0;
    };







    /*
    With oen if, put both arms and legs.

    Use start and select??


    */

    //データ取得例

    if((ButtonState >> BUTTONCIRCLE)&1) {
        //○が押されたとき
    }


    led1=RSX/256.0f;
    led2=RSY/256.0f;
    /*
        led3=ButtonState & 0x0400;  //L1の状態
        led4=ButtonState & 0x0800;  //R1の状態
      */  //値の取得はps3.hを参照



}